Fink Maximilian, Schardt Michael, Baier Valentin, Wang Kun, Jakobi Martin, Koch Alexander W
Appl Opt. 2023 Jan 20;62(3):675-682. doi: 10.1364/AO.479765.
Autonomous vehicles need accurate 3D perception with a decent frame rate and high angular resolution to detect obstacles reliably and avoid collisions. We developed a low-cost scanning multichannel light detection and ranging sensor architecture allowing scalable frame rates by adjusting the number of laser and detector pairs. Scanning is achieved by a pair of micro-electro-mechanical system (MEMS) mirrors. A control pattern for the MEMS mirrors to maximize the frame rate is presented. A built prototype based on the proposed architecture achieves a frame rate of 11.5 Hz, a field of view of 70×30, and an angular resolution of 0.4°. The distance resolution is 6 cm. Reliable single-shot detection for low-reflective objects up to 19 m indoors and 11 m under direct sunlight exposure is achieved. A performance assessment based on the presented measurement system for recently available vertical-cavity surface-emitting laser arrays with power densities up to 1 / shows promising improvement potential.
自动驾驶车辆需要精确的三维感知，具备良好的帧率和高角分辨率，以便可靠地检测障碍物并避免碰撞。我们开发了一种低成本的扫描多通道光探测和测距传感器架构，通过调整激光和探测器对的数量可实现可扩展的帧率。扫描由一对微机电系统（MEMS）镜完成。提出了一种用于MEMS镜的控制模式，以最大化帧率。基于所提出架构构建的原型实现了11.5Hz的帧率、70×30的视场和0.4°的角分辨率。距离分辨率为6厘米。在室内可对距离达19米的低反射物体以及在阳光直射下对距离达11米的低反射物体实现可靠的单次检测。基于所展示的测量系统对最近功率密度高达1 / 的垂直腔面发射激光器阵列进行的性能评估显示出有很大的改进潜力。
